From 71e5bb5134c369ed5cdbbff4663c02ff57acf3e9 Mon Sep 17 00:00:00 2001 From: Stefano Dafarra Date: Wed, 22 Jun 2022 19:53:29 +0200 Subject: [PATCH] Update on the torso cabling, FT cabling and hip roll gear ratio of iCubGenova09 (#365) --- iCubGenova09/calibrators/left_arm-calib.xml | 8 +-- iCubGenova09/calibrators/right_arm-calib.xml | 2 +- iCubGenova09/estimators/wholebodydynamics.xml | 18 ++++-- .../extra/applications/iCubStartup.xml | 6 +- .../extra/applications/look-pixel.xml | 35 ++++++++++++ iCubGenova09/ft.xml | 34 +++++++++++ .../hardware/FT/left_arm-eb1-j0_1-strain.xml | 27 +++++---- .../hardware/FT/left_leg-eb7-j0_2-strain.xml | 27 +++++---- .../hardware/FT/left_leg-eb8-j3_5-strain.xml | 39 +++++++------ .../hardware/FT/right_arm-eb3-j0_1-strain.xml | 27 +++++---- .../FT/right_leg-eb11-j0_2-strain.xml | 28 +++++---- .../FT/right_leg-eb12-j3_5-strain.xml | 39 +++++++------ .../hardware/FT/torso-eb5-j0_2-strain.xml | 57 ------------------- .../mechanicals/left_leg-eb7-j0_2-mec.xml | 4 +- .../mechanicals/right_leg-eb11-j0_2-mec.xml | 2 +- .../motorControl/right_leg-eb11-j0_2-mc.xml | 4 +- .../torso-eb5-j0_2-mc_service.xml | 4 +- .../skin/left_upperarm-eb2-skinSpec.xml | 13 +---- .../skin/right_upperarm-eb4-skinSpec.xml | 13 +---- iCubGenova09/icub_wbd.xml | 51 ++++++----------- iCubGenova09/skin.xml | 23 ++++++++ .../wrappers/FT/left_arm-FT_wrapper.xml | 4 +- .../wrappers/FT/left_foot-FT_wrapper.xml | 18 ++++++ .../wrappers/FT/left_leg_hip-FT_wrapper.xml | 18 ++++++ .../wrappers/FT/right_arm-FT_wrapper.xml | 4 +- .../wrappers/FT/right_foot-FT_wrapper.xml | 18 ++++++ .../wrappers/FT/right_leg_hip-FT_wrapper.xml | 6 +- 27 files changed, 303 insertions(+), 226 deletions(-) create mode 100644 iCubGenova09/extra/applications/look-pixel.xml create mode 100644 iCubGenova09/ft.xml delete mode 100644 iCubGenova09/hardware/FT/torso-eb5-j0_2-strain.xml create mode 100644 iCubGenova09/skin.xml create mode 100644 iCubGenova09/wrappers/FT/left_foot-FT_wrapper.xml create mode 100644 iCubGenova09/wrappers/FT/left_leg_hip-FT_wrapper.xml create mode 100644 iCubGenova09/wrappers/FT/right_foot-FT_wrapper.xml diff --git a/iCubGenova09/calibrators/left_arm-calib.xml b/iCubGenova09/calibrators/left_arm-calib.xml index 6a2dea3338..e796be878e 100644 --- a/iCubGenova09/calibrators/left_arm-calib.xml +++ b/iCubGenova09/calibrators/left_arm-calib.xml @@ -21,10 +21,10 @@ 4000 -3000 -3000 4000 -1500 63200 20250 0 0 0 0 0 0 0 0 0 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 - 0 0 0 0 0 0 0 1948 325 250 478 243 483 255 480 725 - 0 0 0 0 0 0 0 2073 2730 9 99 15 8 30 90 165 - 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 - 0 0 0 0 0 0 -16 0 0 0 0 0 0 0 0 0 + 0 0 0 0 0 0 0 1948 325 250 478 243 478 255 480 715 + 0 0 0 0 0 0 0 2073 2730 9 99 15 30 30 90 140 + 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 + 0 0 0 0 0 -2 -30 0 0 0 0 0 0 0 0 0 24 50 0 10 -75 0 0 15 45 0 0 0 0 0 0 0 10.0 10.0 10.0 10.0 30 30 30 60 100 100 100 100 100 100 100 100 diff --git a/iCubGenova09/calibrators/right_arm-calib.xml b/iCubGenova09/calibrators/right_arm-calib.xml index 7047f9e2c2..90701eabfd 100644 --- a/iCubGenova09/calibrators/right_arm-calib.xml +++ b/iCubGenova09/calibrators/right_arm-calib.xml @@ -23,7 +23,7 @@ 0 0 0 0 16384 0 0 0 0 9102 9102 9102 9102 9102 9102 10000 0 0 0 0 0 0 0 0 0 -1 1 -1 1 -1 1 1 0 0 0 0 0 0 0 2680 1440 255 497 255 476 255 510 764 - 0 0 0 0 0 0 0 2780 2240 24 80 20 30 0 27 130 + 0 0 0 0 0 0 0 2780 2240 24 80 20 30 0 35 138 25 -8.4 -51.3 -5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 -5.5 11 15 0 5 0 0 0 0 0 0 diff --git a/iCubGenova09/estimators/wholebodydynamics.xml b/iCubGenova09/estimators/wholebodydynamics.xml index d29457c51f..f286c5698f 100644 --- a/iCubGenova09/estimators/wholebodydynamics.xml +++ b/iCubGenova09/estimators/wholebodydynamics.xml @@ -66,7 +66,13 @@ rfeimu_acc rfeimu_gyro - + + + + + (l_arm_ft_sensor, r_arm_ft_sensor, r_leg_ft_sensor,l_foot_front_ft_sensor, l_foot_rear_ft_sensor, r_foot_front_ft_sensor, r_foot_rear_ft_sensor) + ` + @@ -145,11 +151,11 @@ left_arm-eb1-j0_1-strain right_arm-eb3-j0_1-strain - left_leg-eb8-j3_5-strain - left_leg-eb7-j0_2-strain - right_leg-eb12-j3_5-strain - right_leg-eb11-j0_2-strain - torso-eb5-j0_2-strain + left_leg-eb8-j3_5-strain + + right_leg-eb12-j3_5-strain + right_leg-eb11-j0_2-strain + diff --git a/iCubGenova09/extra/applications/iCubStartup.xml b/iCubGenova09/extra/applications/iCubStartup.xml index 020e5c632b..6231a7c6b9 100644 --- a/iCubGenova09/extra/applications/iCubStartup.xml +++ b/iCubGenova09/extra/applications/iCubStartup.xml @@ -35,11 +35,11 @@ iKinGazeCtrl - --from config_no_imu.ini + --from iKinGazeCtrl.ini icub-head - + diff --git a/iCubGenova09/extra/applications/look-pixel.xml b/iCubGenova09/extra/applications/look-pixel.xml new file mode 100644 index 0000000000..d2b10d3836 --- /dev/null +++ b/iCubGenova09/extra/applications/look-pixel.xml @@ -0,0 +1,35 @@ + + Look Pixel + + + /iKinGazeCtrl/rpc + + + + yarpview + --name /viewer --out /viewer/out + icub-console + + + look-pixel.lua + + lua + icub-console + + + + /look-pixel/tx + /iKinGazeCtrl/mono:i + tcp + + + /viewer/out + /look-pixel/rx + tcp + + + /icub/camcalib/left/out + /viewer + mjpeg + + diff --git a/iCubGenova09/ft.xml b/iCubGenova09/ft.xml new file mode 100644 index 0000000000..c84069140c --- /dev/null +++ b/iCubGenova09/ft.xml @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubGenova09/hardware/FT/left_arm-eb1-j0_1-strain.xml b/iCubGenova09/hardware/FT/left_arm-eb1-j0_1-strain.xml index 2755bb184e..966a61f38e 100644 --- a/iCubGenova09/hardware/FT/left_arm-eb1-j0_1-strain.xml +++ b/iCubGenova09/hardware/FT/left_arm-eb1-j0_1-strain.xml @@ -3,7 +3,7 @@ - + @@ -11,7 +11,7 @@ - eomn_serv_AS_strain + eomn_serv_AS_ft @@ -30,22 +30,25 @@ - id_l_upper_arm_strain - eoas_strain + l_arm_ft_sensor + strain2 CAN2:13 - 10 - id_l_upper_arm_strain - 1000 - - - - true - + l_arm_ft_sensor + 10 + 1000 + true + + + + 100 + ALL + 20000 + diff --git a/iCubGenova09/hardware/FT/left_leg-eb7-j0_2-strain.xml b/iCubGenova09/hardware/FT/left_leg-eb7-j0_2-strain.xml index cfd467ef4c..9e87c70156 100644 --- a/iCubGenova09/hardware/FT/left_leg-eb7-j0_2-strain.xml +++ b/iCubGenova09/hardware/FT/left_leg-eb7-j0_2-strain.xml @@ -3,7 +3,7 @@ - + @@ -11,7 +11,7 @@ - eomn_serv_AS_strain + eomn_serv_AS_ft @@ -30,22 +30,25 @@ - id_l_heel_strain - eoas_strain + l_leg_ft_sensor + strain2 CAN2:13 - 10 - id_l_heel_strain - 1000 - - - - true - + l_leg_ft_sensor + 10 + 1000 + true + + + + 100 + ALL + 20000 + diff --git a/iCubGenova09/hardware/FT/left_leg-eb8-j3_5-strain.xml b/iCubGenova09/hardware/FT/left_leg-eb8-j3_5-strain.xml index c2b1b3dbf5..9d758095a0 100644 --- a/iCubGenova09/hardware/FT/left_leg-eb8-j3_5-strain.xml +++ b/iCubGenova09/hardware/FT/left_leg-eb8-j3_5-strain.xml @@ -3,7 +3,7 @@ - + @@ -11,7 +11,7 @@ - eomn_serv_AS_strain + eomn_serv_AS_ft @@ -19,33 +19,36 @@ strain2 - 2 - 0 + 2 + 0 - 2 - 0 - 9 + 2 + 0 + 9 - id_l_tiptoe_strain - eoas_strain - CAN2:13 + l_foot_rear_ft_sensor l_foot_front_ft_sensor + strain2 strain2 + CAN2:13 CAN2:14 - 10 - id_l_tiptoe_strain - 1000 - - - - true - + l_foot_rear_ft_sensor l_foot_front_ft_sensor + 10 10 + 1000 1000 + true true + + + + 100 + ALL + 20000 + diff --git a/iCubGenova09/hardware/FT/right_arm-eb3-j0_1-strain.xml b/iCubGenova09/hardware/FT/right_arm-eb3-j0_1-strain.xml index ee94a174b2..2d6e3ba9a3 100644 --- a/iCubGenova09/hardware/FT/right_arm-eb3-j0_1-strain.xml +++ b/iCubGenova09/hardware/FT/right_arm-eb3-j0_1-strain.xml @@ -3,7 +3,7 @@ - + @@ -11,7 +11,7 @@ - eomn_serv_AS_strain + eomn_serv_AS_ft @@ -30,22 +30,25 @@ - id_r_upper_arm_strain - eoas_strain + r_arm_ft_sensor + strain2 CAN2:13 - 10 - id_r_upper_arm_strain - 1000 - - - - true - + r_arm_ft_sensor + 10 + 1000 + true + + + + 100 + ALL + 20000 + diff --git a/iCubGenova09/hardware/FT/right_leg-eb11-j0_2-strain.xml b/iCubGenova09/hardware/FT/right_leg-eb11-j0_2-strain.xml index 9fe71087ae..b947842bb9 100644 --- a/iCubGenova09/hardware/FT/right_leg-eb11-j0_2-strain.xml +++ b/iCubGenova09/hardware/FT/right_leg-eb11-j0_2-strain.xml @@ -3,7 +3,7 @@ - + @@ -11,7 +11,7 @@ - eomn_serv_AS_strain + eomn_serv_AS_ft @@ -30,24 +30,28 @@ - id_r_heel_strain - eoas_strain + r_leg_ft_sensor + strain2 CAN2:13 - 10 - id_r_heel_strain - 1000 - - - - true - + r_leg_ft_sensor + 10 + 1000 + true + + + + 100 + ALL + 20000 + + diff --git a/iCubGenova09/hardware/FT/right_leg-eb12-j3_5-strain.xml b/iCubGenova09/hardware/FT/right_leg-eb12-j3_5-strain.xml index 0a577fe727..3a6bcbe5fe 100644 --- a/iCubGenova09/hardware/FT/right_leg-eb12-j3_5-strain.xml +++ b/iCubGenova09/hardware/FT/right_leg-eb12-j3_5-strain.xml @@ -3,7 +3,7 @@ - + @@ -11,7 +11,7 @@ - eomn_serv_AS_strain + eomn_serv_AS_ft @@ -19,33 +19,36 @@ strain2 - 2 - 0 + 2 + 0 - 2 - 0 - 9 + 2 + 0 + 9 - id_r_tiptoe_strain - eoas_strain - CAN2:13 + r_foot_rear_ft_sensor r_foot_front_ft_sensor + strain2 strain2 + CAN2:13 CAN2:14 - 10 - id_r_tiptoe_strain - 1000 - - - - true - + r_foot_rear_ft_sensor r_foot_front_ft_sensor + 10 10 + 1000 1000 + true true + + + + 100 + ALL + 20000 + diff --git a/iCubGenova09/hardware/FT/torso-eb5-j0_2-strain.xml b/iCubGenova09/hardware/FT/torso-eb5-j0_2-strain.xml deleted file mode 100644 index b447cf43c4..0000000000 --- a/iCubGenova09/hardware/FT/torso-eb5-j0_2-strain.xml +++ /dev/null @@ -1,57 +0,0 @@ - - - - - - - - - - - - - - eomn_serv_AS_strain - - - - - strain2 - - - 2 - 0 - - - 2 - 0 - 9 - - - - - id_r_hip_strain - eoas_strain - CAN2:13 - - - - - - 10 - id_r_hip_strain - 1000 - - - - true - - - - - - - - - - diff --git a/iCubGenova09/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml b/iCubGenova09/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml index eaca05bd24..b4dacda5c0 100644 --- a/iCubGenova09/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml +++ b/iCubGenova09/hardware/mechanicals/left_leg-eb7-j0_2-mec.xml @@ -1,4 +1,4 @@ - + @@ -11,7 +11,7 @@ 182.044 182.044 182.044 32000 32000 32000 1000.0 1000.0 1000.0 - -100.0 100.0 -100.0 + -100.0 160.0 -100.0 64 64 64 1 1 1 "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" diff --git a/iCubGenova09/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml b/iCubGenova09/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml index 1a2290048a..8f48a22860 100644 --- a/iCubGenova09/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml +++ b/iCubGenova09/hardware/mechanicals/right_leg-eb11-j0_2-mec.xml @@ -12,7 +12,7 @@ 182.044 182.044 182.044 32000 32000 32000 1000.0 1000.0 1000.0 - 100.00 -100.00 100.0 + 100.00 -160.00 100.0 64 64 64 1 1 1 "MOOG_C2900580" "MOOG_C2900576" "MOOG_C2900576" diff --git a/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml b/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml index e7c2493fce..37bc05da7e 100644 --- a/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml +++ b/iCubGenova09/hardware/motorControl/right_leg-eb11-j0_2-mc.xml @@ -48,10 +48,10 @@ metric_units machine_units 0 0 0 - 5000 -25000 3000 + 5000 -7000 3000 0 0 0 1500 -5000 2000 - 12000 11000 12000 + 12000 12000 12000 1500 5000 2000 0 0 0 0 0 0 diff --git a/iCubGenova09/hardware/motorControl/torso-eb5-j0_2-mc_service.xml b/iCubGenova09/hardware/motorControl/torso-eb5-j0_2-mc_service.xml index 6ceaa0ea1d..04669d0468 100644 --- a/iCubGenova09/hardware/motorControl/torso-eb5-j0_2-mc_service.xml +++ b/iCubGenova09/hardware/motorControl/torso-eb5-j0_2-mc_service.xml @@ -33,7 +33,7 @@ eomc_act_foc eomc_act_foc eomc_act_foc - CAN1:1:0 CAN1:4:0 CAN1:3:0 + CAN1:4:0 CAN1:1:0 CAN1:3:0 @@ -46,7 +46,7 @@ roie roie roie - CAN1:1:0 CAN1:4:0 CAN1:3:0 + CAN1:4:0 CAN1:1:0 CAN1:3:0 atmotor atmotor atmotor 14400 14400 14400 3.6 3.6 3.6 diff --git a/iCubGenova09/hardware/skin/left_upperarm-eb2-skinSpec.xml b/iCubGenova09/hardware/skin/left_upperarm-eb2-skinSpec.xml index 75af356010..13b3bc1bdb 100644 --- a/iCubGenova09/hardware/skin/left_upperarm-eb2-skinSpec.xml +++ b/iCubGenova09/hardware/skin/left_upperarm-eb2-skinSpec.xml @@ -15,25 +15,14 @@ - - false + true 2 0x2200 - 1 - - 1 14 14 50 1 0xf0 - - false 2 diff --git a/iCubGenova09/hardware/skin/right_upperarm-eb4-skinSpec.xml b/iCubGenova09/hardware/skin/right_upperarm-eb4-skinSpec.xml index adb7bcd3a8..63a97aaa0c 100644 --- a/iCubGenova09/hardware/skin/right_upperarm-eb4-skinSpec.xml +++ b/iCubGenova09/hardware/skin/right_upperarm-eb4-skinSpec.xml @@ -15,25 +15,14 @@ - - false + true 2 0x2200 - 1 - - 1 14 14 50 1 0xf0 - - false 2 diff --git a/iCubGenova09/icub_wbd.xml b/iCubGenova09/icub_wbd.xml index e536f29350..5b49e96f6f 100644 --- a/iCubGenova09/icub_wbd.xml +++ b/iCubGenova09/icub_wbd.xml @@ -72,40 +72,25 @@ - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - diff --git a/iCubGenova09/skin.xml b/iCubGenova09/skin.xml new file mode 100644 index 0000000000..f222f38dde --- /dev/null +++ b/iCubGenova09/skin.xml @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/iCubGenova09/wrappers/FT/left_arm-FT_wrapper.xml b/iCubGenova09/wrappers/FT/left_arm-FT_wrapper.xml index 7277915ace..1c76dbb193 100644 --- a/iCubGenova09/wrappers/FT/left_arm-FT_wrapper.xml +++ b/iCubGenova09/wrappers/FT/left_arm-FT_wrapper.xml @@ -2,9 +2,9 @@ - + 10 - /icub/left_arm/analog:o + /icub/left_arm diff --git a/iCubGenova09/wrappers/FT/left_foot-FT_wrapper.xml b/iCubGenova09/wrappers/FT/left_foot-FT_wrapper.xml new file mode 100644 index 0000000000..c1c9dc650f --- /dev/null +++ b/iCubGenova09/wrappers/FT/left_foot-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_foot_heel_tiptoe + + + + + left_leg-eb8-j3_5-strain + + + + + + diff --git a/iCubGenova09/wrappers/FT/left_leg_hip-FT_wrapper.xml b/iCubGenova09/wrappers/FT/left_leg_hip-FT_wrapper.xml new file mode 100644 index 0000000000..a52288163d --- /dev/null +++ b/iCubGenova09/wrappers/FT/left_leg_hip-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/left_leg_hip + + + + + left_leg-eb7-j0_2-strain + + + + + + diff --git a/iCubGenova09/wrappers/FT/right_arm-FT_wrapper.xml b/iCubGenova09/wrappers/FT/right_arm-FT_wrapper.xml index d0eca5eab6..00e085264b 100644 --- a/iCubGenova09/wrappers/FT/right_arm-FT_wrapper.xml +++ b/iCubGenova09/wrappers/FT/right_arm-FT_wrapper.xml @@ -2,9 +2,9 @@ - + 10 - /icub/right_arm/analog:o + /icub/right_arm diff --git a/iCubGenova09/wrappers/FT/right_foot-FT_wrapper.xml b/iCubGenova09/wrappers/FT/right_foot-FT_wrapper.xml new file mode 100644 index 0000000000..57d2356426 --- /dev/null +++ b/iCubGenova09/wrappers/FT/right_foot-FT_wrapper.xml @@ -0,0 +1,18 @@ + + + + + + 10 + /icub/right_foot_heel_tiptoe + + + + + right_leg-eb12-j3_5-strain + + + + + + diff --git a/iCubGenova09/wrappers/FT/right_leg_hip-FT_wrapper.xml b/iCubGenova09/wrappers/FT/right_leg_hip-FT_wrapper.xml index a7ecb80eb6..52f3e78339 100644 --- a/iCubGenova09/wrappers/FT/right_leg_hip-FT_wrapper.xml +++ b/iCubGenova09/wrappers/FT/right_leg_hip-FT_wrapper.xml @@ -2,14 +2,14 @@ - + 10 - /icub/right_leg_hip/analog:o + /icub/right_leg_hip - torso-eb5-j0_2-strain + right_leg-eb11-j0_2-strain